Pick-up and delivery system and associated methods

ABSTRACT

The present disclosure relates to a pick-up and delivery system including a pick-up assembly and a delivery assembly. The pick-up assembly includes a robotic arm, a pick-up device rotatably mounted on the robotic arm, and a first vacuum pressure supply port operably connected to the pick-up device. The delivery assembly includes an insertion device and a second vacuum pressure supply port. The insertion device may include an insertion member and a release assistance rod arranged inside the insertion member. The release assistance rod is moveable between an extended position and a retracted position. When the release assistance rod is in the extended position, a proximal end extends beyond an end of the insertion member. Further aspects are directed towards methods for grasping and releasing an object with a pick-up and delivery system.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is entitled to and claims the benefit of priority fromU.S. Nonprovisional patent application Ser. No. 13/156,096 filed Jun. 8,2011, and titled “Pick-up and Delivery System and Associated Methods,”the contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure is directed generally to material handlingsystems, and particularly to pick-up and delivery systems for use withplant embryos.

BACKGROUND

Modern agriculture, including silviculture, often requires planting oflarge numbers of substantially identical plants that are geneticallytailored to grow optimally in a particular locale or to possess certainother desirable traits. Production of new plants by sexual reproductioncan be slow and is often subject to genetic events resulting in variabletraits in its progeny. As a result, asexual propagation has been shownto yield large numbers of genetically identical embryos for somespecies. Such embryos are typically further cultured under laboratoryconditions until they mature into an autotrophic “seedling” statecharacterized by an ability to produce their own food viaphotosynthesis, to resist desiccation, to produce roots able topenetrate soil, and to fend off soil microorganisms.

Researchers have experimented in asexual propagation with the productionof artificial seeds known as “manufactured seeds.” Manufactured seedstypically include the following components: a seed shell, a syntheticgametophyte, and a plant embryo. A manufactured seed that does notcontain a plant embryo is known in the industry as a “seed blank.” Theseed blank is typically a cylindrical capsule made from biodegradableplastic having an open end and a closed end. Manufactured seeds areproduced by placing the synthetic gametophyte within the seed shell suchthat it substantially fills the interior of the seed shell. Alongitudinally extending hard porous insert, known in the industry as a“cotyledon restraint,” may be centrally located within the syntheticgametophyte. The cotyledon restraint includes a centrally located cavityextending partially through its length and is sized to receive the plantembryo. The plant embryo is approximately 4 to 7 millimeters in lengthand roughly 0.5 millimeters in diameter. The shape of the plant embryois somewhat cylindrical, but is also irregular in cross-section andvaries in diameter along its length. The plant embryo contains both aradicle (or root) end and a cotyledon end. The plant embryo is depositedinto cavity of the cotyledon restraint oriented so that the cotyledonend is inserted first. Subsequently, the plant embryo is typicallysealed within the seed shell using at least one end seal.

Numerous types of plant embryo delivery systems have been used totransfer the plant embryo through the manufactured seed production line.Examples of such systems include U.S. Pat. No. 6,684,564, U.S. Pat. No.7,207,139, and U.S. Pat. No. 7,603,807, all of which are herebyincorporated by reference. Although known systems have been effective intransporting plant embryos, problems are often encountered. For example,in some applications, embryos are hydrated to prevent damage fromdesiccation. These moist and sticky embryos often remain attached toplant embryo delivery systems and may be damaged during removalattempts. Even if the embryo is not damaged, sticking can also causeimproper orientation or placement in the seed shell. Either scenarioresults in the possibility of wasting viable embryos, which is costly incommercial applications.

Thus, there is a need in the industry to develop new systems and methodsfor plant embryo pick-up and delivery. Ideally such systems will besuitable for transferring a viable embryo through a manufactured seedproduction line with minimized sticking to the components and/or damageto the embryo.

SUMMARY

The following summary is provided for the benefit of the reader only andis not intended to limit in any way the invention as set forth by theclaims. The present disclosure is directed generally towards materialhandling systems, and particularly to pick-up and delivery systems foruse with plant embryos.

In some embodiments, the present disclosure relates to a pick-up anddelivery system including a pick-up assembly and a delivery assembly.The pick-up assembly includes a robotic arm, a pick-up device rotatablymounted on the robotic arm, and a first vacuum pressure supply portoperably connected to the pick-up device. The delivery assembly includesan insertion device and a second vacuum pressure supply port. Theinsertion device may include an insertion member and a releaseassistance rod arranged inside the insertion member. The releaseassistance rod is moveable between an extended position and a retractedposition. When the release assistance rod is in the extended position,it extends beyond the proximal end of the insertion member.

Further aspects are directed towards methods for grasping and releasingan object with the pick-up and delivery system. In some embodiments,such methods include the steps of moving the pick-up device to a firstlocation to grasp the object and supplying a first vacuum pressure tothe tip opening of the pick-up device. The pick-up device and the objectmay then be moved to a second location. The object may be transferredfrom the pick-up device to the insertion member by supplying a secondvacuum pressure to the insertion member and removing the first vacuumpressure while the release assistance rod is in the retracted position.The insertion member and the object may then be moved to the secondposition so that the object is located above a receptacle. The objectmay be inserted into the receptacle by removing the second vacuumpressure and moving the release assistance rod to the extended position.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is better understood by reading the followingdescription of non-limitative embodiments with reference to the attacheddrawings wherein like parts of each of the figures are identified by thesame reference characters, and are briefly described as follows:

FIG. 1 is a schematic three-dimensional view of a pick-up and deliverysystem according to embodiments of the disclosure during embryo handoff;

FIG. 2 is a side view of a plant embryo suitable for use withembodiments according to the disclosure;

FIG. 3 is a schematic three-dimensional view of a pick-up deviceaccording to embodiments of the disclosure;

FIG. 4 is a schematic three-dimensional view of another pick-up deviceaccording to embodiments of the disclosure;

FIG. 5 is a schematic three-dimensional view of a delivery assembly in afirst position according to embodiments of the disclosure;

FIG. 6 is a schematic three-dimensional view of an insertion member anda release assistance rod in an extended position according toembodiments of the disclosure;

FIG. 7 is a schematic three-dimensional view of the insertion member andthe release assistance rod in a retracted position according toembodiments of the disclosure;

FIG. 8 is a side view of a pick-up device according to embodiments ofthe disclosure grasping the plant embryo;

FIG. 9 is a side view of the plant embryo during handoff from thepick-up device to the insertion member according to embodiments of thedisclosure;

FIG. 10 is a schematic three-dimensional view of the delivery assemblyin a second position during embryo insertion;

FIG. 11 is a side view of the plant embryo during insertion into areceptacle; and

FIG. 12 is a side view of the plant embryo after insertion into thereceptacle.

DETAILED DESCRIPTION

The present disclosure describes, generally, material handling systems,and, particularly, pick-up and delivery systems for use with plantembryos. Specifically the disclosure is directed to a pick-up anddelivery system that grasps small objects such as those havingdimensions of about 0.2 to about 10 millimeters in width and about 2 toabout 20 millimeters in length. While the present disclosure describesexamples used for handling plant embryos, it will be appreciated thatthe scope of the disclosure includes handling other objects havingsimilar dimensions.

Certain specific details are set forth in the following description andFIGS. 1-12 to provide a thorough understanding of various embodiments ofthe disclosure. Well-known structures, systems, and methods oftenassociated with such systems have not been shown or described in detailsto avoid unnecessarily obscuring the description of various embodimentsof the disclosure. In addition, those of ordinary skill in the relevantart will understand that additional embodiments of the disclosure may bepracticed without several of the details described below.

In this disclosure, the term “object” is used to describe any objecthaving dimensions suitable for pick-up and delivery using systemsaccording to the disclosure (e.g., plant embryos, plant tissue, any sortof seed) The term “plant embryo” is used to describe part of a seedconsisting of precursor tissues for the leaves, stem, and root, as wellas one or more cotyledons. The disclosure is not intended to be limitedto any particular type of seed. For example, embodiments according tothe disclosure are suitable for use with plant embryos related toagricultural seeds, seeds for producing trees, or any other type ofseed.

FIG. 1 is a schematic three-dimensional view of a pick-up and deliverysystem 100 according to embodiments of the disclosure. The pick-up anddelivery system 100 may include a pick-up assembly 102 and a deliveryassembly 104. In some embodiments, the pick-up assembly 102 and thedelivery assembly 104 are arranged on a storage assembly 106 as part ofa production line. The storage assembly 106 may include one or morecavities 108, each of the one or more cavities 108 being configured tohold a receptacle 110. Each receptacle 110 is configured to hold one ormore objects. The objects may have a diameter between about 0.2 to about10.0 millimeters and a length between about 2.0 to about 20 millimeters.

In the Figures, the object is a plant embryo in a manufactured seedproduction line. Referring to FIG. 2, a plant embryo 200 is shown havinga radicle (or root) end 202 and a cotyledon end 204. The root (orradicle) end 202 generally has the weakest cells, making it prone todamage. Referring back to FIG. 1, the one or more receptacles 110 may beseed shells having cotyledon restraint cavities. A person of ordinaryskill in the art will appreciate that although the examples describesystems and methods for handling plant embryos, embodiments according tothe disclosure may be used with other types of objects in other types ofproduction lines. Further, while embodiments of the Figures showexamples in which a single object is inserted into a receptacle,embodiments of the disclosure are intended to include systems forplacing more than one object in a single receptacle.

Referring again to FIG. 1, the pick-up assembly 102 may include arobotic arm 112, a pick-up device 114, and a first vacuum supply port(not visible in FIG. 1). The robotic arm may have one or more hingepoints 116 enabling it to translate and rotate in various directionswith respect to the delivery assembly 104 and the storage assembly 106.The pick-up device 114 may be rotatably mounted on the robotic arm 112,allowing it to rotate 360 degrees.

Components of embodiments of the pick-up assembly 102 will now bedescribed in further detail. Referring to FIGS. 3 and 4, a schematicthree-dimensional view of the pick-up device 114 according toembodiments of the disclosure is depicted. In FIGS. 3 and 4, the pick-updevice 114 includes a tube member 302 and a tip opening 304. In someembodiments, the tube member 302 may include a first section 306 havinga first diameter and a second section 308 having a second diameter. Insome embodiments, the tube member 302 may be several concentric tubes ofvarying diameters. The tip opening 304 may be sized so that it iscapable of picking up objects having dimensions of about 0.2 to about 10millimeters in width and about 2 to about 20 millimeters in length.Embodiments of the disclosure include tip opening 304 which may pick upobjects having varying sizes within this specified range. Components ofthe pick-up device 114 may be made from metal, Teflon, or other suitablematerials known to a person of ordinary skill in the art.

The pick-up device 114 may be rotatably mounted on the robotic arm 112using a first collar 310 and a second collar 312. Accordingly, thepick-up device 114 may rotate or spin as shown by arrow 314. A person ofordinary skill in the art will appreciate that mounting systems otherthan those explicitly shown in the Figures may be used provided suchsystems enable rotation and translation of the pick-up device 114.

Embodiments of the disclosure may be effective to balance the variedneeds associated with material handling systems used for objects havingthe specified dimensions. On one hand, there are many reasons tominimize the tip opening 304 surface area contacting the object so thatthe object does not stick to the pick-up device 114. At the same time,if the tip opening 304 is too small, the object may be damaged duringpick-up. Further, if the tube member 302 is too small, it may becomeunstable and wobble while it is being rotated and translated.Accordingly, the tube member 302 with sections having varied diameters(e.g., the first section 306 and the second section 308) may be providestability during rotation and translation while the smaller tip opening304 enables the pick-up device 114 to grasp and release varying sizes ofobjects without damage or sticking.

In FIGS. 3 and 4, a first vacuum supply port 316 is shown connected tothe pick-up device 114. The first vacuum pressure supply port 316 isalso connected to a vacuum pressure source (not shown). Accordingly, thefirst vacuum pressure supply port 316 may be configured to supply vacuumpressure to the tip opening 304 of the pick-up device 114.

In some manufactured seed production lines, machine vision systems areused for selection of embryos. Accordingly, in some embodiments,portions of the pick-up device 114 or the entire pick-up device 114 maybe coated with a substance for reducing reflectivity. Referring back toFIG. 4, an exemplary coating 318 is shown on the pick-up device 114.Coatings 318 suitable for use with embodiments according to thedisclosure include rubber, plastic, or any non-glossy material havingshading that is in contrast to the color of the object. For example, ifthe object is light, the coating 318 should be dark and vice versa. Insome embodiments such as the embodiment shown in FIG. 4, O-rings 320 maybe surround portions of the tube member 320. Alternatively if thepick-up device 114 is constructed from metal, a portion of it may besandblasted to reduce reflectivity.

Components of embodiments of the delivery assembly 104 will now bedescribed in further detail. Referring to FIG. 5, a schematicthree-dimensional view of the delivery assembly 104 according toembodiments of the disclosure is depicted. In FIG. 5, the deliveryassembly 104 includes an insertion device 402 and a second vacuumpressure supply port 404. In some embodiments, the insertion device 402includes a housing 406 mounted on a frame 408. The frame 408 may belocated in a plane that is substantially perpendicular to the storageassembly 106 (not visible in FIG. 5). An actuation mechanism 410 (e.g.,a piston) enables the insertion device 402 to be moved up and down (asindicated by arrow 412) between a first position (shown in FIGS. 1 and5) and a second position (shown in FIG. 10) with respect to the storageassembly 106. The first position may be a raised position and the secondposition may be a lowered position. Alternatively, the first and secondpositions may be horizontal, skewed, or arranged in any otherconfiguration known to a person or ordinary skill in the art. Theactuation mechanism 410 may be a hydraulic actuation system, an electricactuation system, or any other actuation system known to a person ofordinary skill in the art. In FIG. 5, the insertion device 402 is shownin the first position. In some embodiments, the insertion device 402 isalso moveable to a number of intermediate positions between the firstposition and the second position.

Embodiments of the insertion device 402 further include an insertionmember 414 and a release assistance rod 416, which are described infurther detail with reference to FIGS. 6 and 7. In FIGS. 6 and 7, theinsertion member 414 is shown arranged in the housing 406. In someembodiments, the insertion member 414 may have a substantiallycylindrical or tubular shape. In some embodiments, other shapes thatwould be suitable to a person of ordinary skill in the art may be used.The insertion member 414 has an end 502. In some embodiments, the end502 of the insertion member 414 may have a bell shape (e.g., outwardlyextending sides). The end 502 of the insertion member 414 may alsoinclude a notched opening 504 as shown in FIGS. 6 and 7. In someembodiments, the insertion member 414 does not move with respect to thehousing 406. The size of the insertion member 414 may be adjusted basedon the size of the object being handled. Referring again to FIGS. 6 and7, the release assistance rod 416 may be a solid rod made from metal,Teflon, or another suitable material arranged concentrically inside theinsertion member 414. In some embodiments, the release assistance rod416 may be hollow. The release assistance rod 416 has a proximal end 506and a distal end 508 (not visible in FIGS. 6 and 7). If the insertionmember 414 has a tubular shape, the release assistance rod 416 may alsohave a tubular shape. Accordingly, if the insertion member 414 hasanother shape, the release assistance rod 416 may be designed to fitinside the insertion member 414. The release assistance rod 416 ismoveable within the insertion member 414 between an extended position(shown in FIG. 6) and a retracted position (shown in FIG. 7). In FIG. 6,the release assistance rod 416 is shown in the extended position withthe proximal end 506 extending beyond the end 502 of the insertionmember 414. In FIG. 6, the release assistance rod 416 is shown in theretracted position; therefore, the proximal end 506 is completely insidethe insertion member 414 and is not visible.

Referring back to FIG. 4, the second vacuum pressure supply port 406 isshown connected to the insertion member 414. The second vacuum pressuresupply port 406 is also connected to a vacuum pressure source (notshown). Accordingly, the second vacuum pressure supply port 406 may beconfigured to supply vacuum pressure to the proximal end 502 of theinsertion member 414.

Methods for using systems according to the disclosure for grasping andreleasing objects will now be described with reference to FIG. 1 andFIGS. 8-12. In some embodiments, methods according to the disclosureinclude moving the pick-up device 114 to a first location to grasp theobject (e.g., the plant embryo 200). In embodiments related tomanufactured seed production lines, the pick-up device 114 may be movedover a single plant embryo 200 near the geometric center of the plantembryo 200 as shown in FIG. 8. A first vacuum pressure is supplied viathe first vacuum pressure supply port 316 to the tip opening 304 of thepick-up device 114 enabling the pick-up device 114 to lift and hold theobject.

The pick-up device 114 carrying the object (e.g., the plant embryo 200)is then rotated and translated (e.g., via the robotic arm 112) in orderto move the object to a second location for transfer to the deliveryassembly 104. As shown in FIG. 9, in some embodiments, the end 502 ofthe insertion member 414 has a bell shape 902. The notched opening 504in the insertion member 414 allows the tip opening 304 of the pick-updevice 114 to move close to the insertion member 414 and transfer theobject. In some embodiments, this involves moving the pick-up device 114in a direction that is substantially perpendicular to the insertiondevice 402, moving the insertion device 402 toward a receptacle opening1002 (see FIGS. 10 and 11), and allowing the tip opening 304 of thepick-up device 114 to enter the notched opening 504 of the insertionmember 414. In embodiments related to manufactured seed, the plantembryo 200 is transferred radicle (or root) end 202 first.

When the object is properly oriented, a second vacuum pressure issupplied (via the second vacuum pressure supply port 404) to theinsertion member 414 so that it may grasp the object. In someembodiments, the release assistance rod 416 is in the retracted positionduring this process to limit insertion distance of the object. When theobject has been successfully transferred, the first vacuum pressure isremoved and the pick-up device 114 may be retracted away from thedelivery assembly 104. In some embodiments, a puff of compressed air maybe released through the pick-up device 114 to facilitate transfer of theobject to the insertion member 414. Additionally, in some embodiments,one or more puffs of compressed air may be used to clean the pick-updevice 114 and prepare it for grasping another object. In someembodiments (e.g., FIG. 10) the pick-up and delivery system 100 includesan air filter 1002 to sterilize the air around the object.

After the object has been successfully transferred from the pick-updevice 114 to the insertion member 414, the insertion device 402 and theobject may be moved to the second position as shown in FIG. 10 if notalready in that position. In embodiments related to manufactured seed,the receptacle 110 is a seed blank having a receptacle opening 1102, awasher 1104, and a cotyledon restraint 1106 (see FIG. 11). The objectmay be partially inserted into the receptacle 110 or may be helddirectly above the receptacle opening 1102 as shown in FIG. 11.

The object may then be inserted into the receptacle 110 by removing thesecond vacuum pressure and moving the release assistance rod 416 to theextended position as shown in FIG. 12. In some embodiments, insertion ofthe object into the receptacle 110 may be facilitated by releasing apuff of compressed air through the insertion member 414. In embodimentsrelated to manufactured seed, after the plant embryo 200 has beendeposited into the receptacle 110, the receptacle may be sealedaccording to methods well known to person of ordinary skill in the art.

From the foregoing, it will be appreciated that the specific embodimentsof the disclosure have been described herein for purposes ofillustration, but that various modifications may be made withoutdeviating from the disclosure. For example, minor modifications to themechanical components of the pick-up assembly 102 and delivery assembly104 that would be obvious to a person of ordinary skill in the art arewithin the scope of the disclosure. Further, the shapes and operation ofspecific components may be modified in a manner that would be obvious toa person of ordinary skill in the art without departing from the spiritof the disclosure.

Aspects of the disclosure described in the context of particularembodiments may be combined or eliminated in other embodiments. Forexample, aspects of the disclosure described with respect tomanufactured seed applications may be used in applications related toother material handling systems. Further, while advantages associatedwith certain embodiments of the disclosure may have been described inthe context of those embodiments, other embodiments may also exhibitsuch advantages, and not all embodiments need necessarily exhibit suchadvantages to fall within the scope of the disclosure. Accordingly, theinvention is not limited except as by the appended claims.

I/we claim:
 1. A method for grasping and releasing an object with apick-up and delivery system, the method comprising the steps of:providing a receptacle having an receptacle opening, a pick-up devicehaving a tip opening, and an insertion device that is moveable between afirst position and a second position in a plane substantiallyperpendicular to the receptacle opening, the insertion devicecomprising: a tubular insertion member having an end; and a releaseassistance rod arranged inside the tubular insertion member, the releaserod being moveable between an extended position and a retractedposition; moving the pick-up device to a first location to grasp theobject; supplying a first vacuum pressure to the tip opening of thepick-up device; grasping the object at the tip opening with the firstvacuum pressure; moving the pick-up device and the object to a secondlocation, the second location being in proximity to the receptacle andthe insertion device; transferring the object from the pick-up device tothe tubular insertion member by: supplying a second vacuum pressure tothe tubular insertion member; and removing the first vacuum pressurewhile the release assistance rod is in the retracted position; movingthe tubular insertion member and the object to the second position sothat the object is above the receptacle opening; and inserting theobject into the receptacle by: releasing the object with the tubularinsertion member by removing the second vacuum pressure; and moving therelease assistance rod to the extended position.
 2. The method of claim1, further comprising the step of orienting the object with respect tothe receptacle by rotating the pick-up device before transferring theobject from the pick-up device to the tubular insertion member.
 3. Themethod of claim 1, wherein the tubular insertion member has a notchedopening at the proximal end and the step of transferring the object fromthe pick-up device to the tubular insertion member further comprises:moving the pick-up device in a direction that is substantiallyperpendicular to the insertion device; and allowing the tip opening ofthe pick-up device to enter the notched opening of the tubular insertionmember.
 4. The method of claim 3 wherein the step of transferring theobject from the pick-up device to the tubular insertion member furthercomprises the step of releasing compressed air through the pick-updevice to facilitate transfer.
 5. The method of claim 1 wherein the stepof inserting the object into the receptacle further comprises releasingcompressed air through the tubular insertion member.
 6. The method ofclaim 1 wherein the object is a plant embryo.